[](#)
# Universal Robots communication SDK
Quickly create applications that communicate with an [Universal Robots](https://www.universal-robots.com) industrial robot.
SDK : Software Development Kit
More information : [https://underautomation.com](https://underautomation.com)
[](https://underautomation.com)
https://user-images.githubusercontent.com/47540360/143318635-6d6aaaf4-5642-457a-8ff1-4322f2defe82.mp4
## Try it
From Pypi :
```
pip install UnderAutomation.UniversalRobots
```
From this repo :
```
git clone https://github.com/underautomation/UniversalRobots.py.git
```
Import features :
```py
from underautomation.universal_robots.ur import UR
from underautomation.universal_robots.connect_parameters import ConnectParameters
from underautomation.universal_robots.common.pose import Pose
from underautomation.universal_robots.rtde.rtde_input_data import RtdeInputData
from underautomation.universal_robots.rtde.rtde_output_data import RtdeOutputData
from underautomation.universal_robots.rtde.rtde_input_values import RtdeInputValues
# from underautomation.universal_robots... import ...
# etc.
```
## Features
### RTDE and Primary Interface
Full support for :
- RTDE (Real-Time Data Exchange) : read and write registers up to 500Hz
- Primary Interface :
- Receive robot state data at 10Hz : Cartesian and angular position, robot status, inputs and outputs value, and 100+ more measurements ...
- Send URScript
- Get variables
``` py
# Create a robot instance
robot = UR()
# Setup connection to th robot
param = ConnectParameters()
param.ip = "192.168.0.1"
# Enable primary interface to get variable values
param.primary_interface.enable = True
# Enable rtde at 5Hz (500Hz possible)
param.rtde.enable = True
param.rtde.frequency = 5
# Ask the robot for permission to write these registers
param.rtde.input_setup.add(RtdeInputData.StandardAnalogOutput0)
param.rtde.input_setup.add(RtdeInputData.InputBitRegisters, 64)
# Ask the robot to send me this data
param.rtde.output_setup.add(RtdeOutputData.ActualTcpPose)
param.rtde.output_setup.add(RtdeOutputData.ActualTcpForce)
# Connect to the robot
robot.connect(param)
# Function called when new RTDE data is received
def on_output_data_received(o, e):
##
# Display robot TCP pose
pose = robot.rtde.output_data_values.actual_tcp_pose
# pose.X, pose.Y, pose.Z, pose.Rx, ...
# Display robot TCP force
force = robot.rtde.output_data_values.actual_tcp_force
# Write data in robot controler
inputs = RtdeInputValues()
inputs.standard_analog_output0 = 0.2
inputs.input_bit_registers.x64 = True
robot.rtde.write_inputs(inputs)
##
# Event raised when data is received
robot.rtde.output_data_received(on_output_data_received)
# Function called when any program or installation variable changes in the robot
def on_value_updated(p, e):
##
# Display all program and installation variables
variables = robot.primary_interface.global_variables.get_all()
name = variables[0].name
value = variables[0].to_pose()
type = variables[0].type
##
# Event raised when a program or installation variable change
robot.primary_interface.global_variables.values_updated(on_value_updated)
# Function called when masterboard data is received
def on_masterboard_data_received(p, e):
ai0 = robot.primary_interface.masterboard_data.analog_input0
di2 = robot.primary_interface.masterboard_data.digital_inputs.digital2
# Several other events are raised by primary interface
robot.primary_interface.masterboard_data_received(on_masterboard_data_received)
# Function called when cartesian data is received
def on_cartesian_info_received(p, e):
x = e.X
tcpOffsetX = e.TCPOffsetX
robot.primary_interface.cartesian_info_received(on_cartesian_info_received)
# Function called when joint data is received
def on_joint_data_received(o,e):
shoulderAngle = e.Shoulder.Position
elbowMode = e.Elbow.JointMode
wrist3Speed = e.Wrist3.ActualSpeed
robot.primary_interface.joint_data_received(on_joint_data_received)
```
### Read variables
Read program and installation variables :
``` py
myVar = robot.primary_interface.global_variables.get_by_name("myVar")
variables = robot.primary_interface.global_variables.get_all()
```
### Dashboard Server
Remote control the robot : load, play, pause, and stop a robot program, power on and off, release brake, shutdown, ...
``` py
# Create a new robot instance
robot = UR()
# Setup connection to th robot
param = ConnectParameters("192.168.0.56")
param.dashboard.enable=True
# Connect to the robot
robot.connect(param)
# Display a popup on the pendant
robot.dashboard.show_popup("I just remote-controlled my robot!")
# Power on the robot arm and release brakes
robot.dashboard.power_on()
robot.dashboard.release_brake()
# Load program file to polyscope
robot.dashboard.load_program("fast_bin_picking.urp")
# Start the program
robot.dashboard.play()
# Get program name and state
state = robot.dashboard.get_program_state()
```
### XML-RPC
From your robot program, remote call a function implemented in your .NET program. For example, this allows you to request a position resulting from image processing.
Robot code (URScript) :
``` ruby
# Connect to the SDK and specifie the IP and port of the PC
rpc:=rpc_factory("xmlrpc","http://192.168.0.10:50000")
# Call method GetPose and wait for the reply. The replied pose will be assigned in variable "answer"
answer:=rpc.GetPose(100)
```
Python code :
``` py
# XML-RPC server on port 50000
parameters.xml_rpc.enable = True
parameters.xml_rpc.port = 50000
# Event callback :
# robot.xml_rpc.xml_rpc_server_request
```
### Socket communication
The library can start a communication. The robot can connect to your server and exchange custom data.
Robot code (URScript) :
``` ruby
# Connect to robot socket server in URScript
socket_open("192.168.0.10", 50001)
# Raise event SocketRequest is your app
socket_send_string("Hello from robot")
# Raise event SocketGetVar is your app
var1 := socket_get_var("MY_VAR")
```
Python code :
``` py
robot = UR()
# Setup connection to th robot
param = ConnectParameters("192.168.0.1")
# Enable spcket server on port 50001
param.socket_communication.enable = True
param.socket_communication.port = 50001
# Connect to the robot
robot.connect(param)
##
# Function called when robot connects with URScipt function socket_open()
def on_socket_client_connection(o, e : SocketClientConnectionEventArgs):
e.client.socket_write("Hello cobot <3")
robot.socket_communication.socket_client_connection(on_socket_client_connection)
# Function called when the robot sends a message with socket_write()
def on_socket_request(o,e:SocketRequestEventArgs):
# Get robot message
robotMessage = e.Message
robot.socket_communication.socket_request(on_socket_request)
# Send a message to all connected clients
robot.socket_communication.socket_write("123456")
##
# List of all connected clients
connectedClients = robot.socket_communication.connected_clients
# IP address and remote port of a client
clientEndpoint = connectedClients[0].end_point
# Send a message to a specific connected robot
connectedClients[0].socket_write("Hello robot [0]")
# Handle client disconnection
def on_socket_client_disconnection(o,e):
pass
connectedClients[0].socket_client_disconnection(on_socket_client_disconnection)
```
### SFTP
Manipulate files and folders of the robot via SFTP (Secure File Transfer Protocol) : download to the robot, import from the robot, rename, delete, move, list files in a folder...
``` py
robot = UR()
# Setup connection to th robot
param = ConnectParameters("192.168.0.1")
# Enable SFTP file access
param.ssh.enable_sftp = True
# Connect to the robot
robot.connect(param)
# Enumerates files and folder
items = robot.sftp.list_directory("/home/ur/ursim-current/programs/")
# Download program file prg.urp to your local disk
robot.sftp.download_file("/home/ur/ursim-current/programs/prg.urp", "C:\\temp\\prg.urp")
# Send a local file to the robot
robot.sftp.upload_file("C:\\temp\\prg.urp", "/home/ur/ursim-current/programs/prg.urp")
# Manipulate files and directories
robot.sftp.rename_file("/home/ur/prg.urp", "/home/ur/prg2.urp")
robot.sftp.delete("/home/ur/prg.urp")
exists = robot.sftp.exists("/home/ur/prg.urp")
robot.sftp.write_all_text("/home/ur/file.txt", "Hello robot !")
```
### SSH
Open a SSH (Secure Shell) connection with the robot to execute Linux command lines, as in the terminal.
``` py
robot.ssh.run_command("echo Hello > /home/ur/Desktop/NewFile.txt");
```
### Convert position types
Convert Rotation Vector to and from RPY.
``` py
# Create X, Y, Z, RX, RY, RZ pose
pose = Pose(0.1, 0.2, -0.1, 0, 0.05, 0.1)
# Convert cartesian pose type to RPY or rotation vector
rpy = pose.from_rotation_vector_to_rpy()
vectorPose = pose.from_rpy_to_rotation_vector()
```
### Edit program and installation files
Open and edit program (.urp) and installation (.installation) files :
``` py
# Decompile program and installation files and access inner XML
installation = URInstallation.load("C:\\temp\\default.installation")
prg = URProgram.load("C:\\temp\\prg.urp")
internalXml = prg.xml
```
## License
This SDK is a commercial library and a license *must* be purshased. Once acquired, any application you develop can be delivered to an unlimited number of customers without royalties and without recurring subscription.
More information : [https://underautomation.com](https://underautomation.com)
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"description": "[](#)\n\n# Universal Robots communication SDK\n\nQuickly create applications that communicate with an [Universal Robots](https://www.universal-robots.com) industrial robot.\n\nSDK : Software Development Kit\n\nMore information : [https://underautomation.com](https://underautomation.com)\n\n\n[](https://underautomation.com)\n\n\nhttps://user-images.githubusercontent.com/47540360/143318635-6d6aaaf4-5642-457a-8ff1-4322f2defe82.mp4\n\n## Try it\nFrom Pypi :\n```\npip install UnderAutomation.UniversalRobots\n```\n\nFrom this repo :\n```\ngit clone https://github.com/underautomation/UniversalRobots.py.git\n```\n\nImport features :\n```py\nfrom underautomation.universal_robots.ur import UR\nfrom underautomation.universal_robots.connect_parameters import ConnectParameters\nfrom underautomation.universal_robots.common.pose import Pose\nfrom underautomation.universal_robots.rtde.rtde_input_data import RtdeInputData\nfrom underautomation.universal_robots.rtde.rtde_output_data import RtdeOutputData\nfrom underautomation.universal_robots.rtde.rtde_input_values import RtdeInputValues\n# from underautomation.universal_robots... import ...\n# etc.\n```\n\n## Features\n\n### RTDE and Primary Interface\nFull support for :\n- RTDE (Real-Time Data Exchange) : read and write registers up to 500Hz\n- Primary Interface : \n - Receive robot state data at 10Hz : Cartesian and angular position, robot status, inputs and outputs value, and 100+ more measurements ...\n - Send URScript\n - Get variables\n\n``` py\n# Create a robot instance\nrobot = UR()\n\n# Setup connection to th robot\nparam = ConnectParameters()\nparam.ip = \"192.168.0.1\"\n\n# Enable primary interface to get variable values\nparam.primary_interface.enable = True\n\n# Enable rtde at 5Hz (500Hz possible)\nparam.rtde.enable = True\nparam.rtde.frequency = 5\n\n# Ask the robot for permission to write these registers\nparam.rtde.input_setup.add(RtdeInputData.StandardAnalogOutput0)\nparam.rtde.input_setup.add(RtdeInputData.InputBitRegisters, 64)\n\n# Ask the robot to send me this data\nparam.rtde.output_setup.add(RtdeOutputData.ActualTcpPose)\nparam.rtde.output_setup.add(RtdeOutputData.ActualTcpForce)\n\n# Connect to the robot\nrobot.connect(param)\n\n# Function called when new RTDE data is received\ndef on_output_data_received(o, e):\n ##\n # Display robot TCP pose\n pose = robot.rtde.output_data_values.actual_tcp_pose\n # pose.X, pose.Y, pose.Z, pose.Rx, ...\n\n # Display robot TCP force\n force = robot.rtde.output_data_values.actual_tcp_force\n\n # Write data in robot controler\n inputs = RtdeInputValues()\n inputs.standard_analog_output0 = 0.2\n inputs.input_bit_registers.x64 = True\n robot.rtde.write_inputs(inputs)\n ##\n\n# Event raised when data is received\nrobot.rtde.output_data_received(on_output_data_received)\n\n# Function called when any program or installation variable changes in the robot\ndef on_value_updated(p, e):\n ##\n # Display all program and installation variables\n variables = robot.primary_interface.global_variables.get_all()\n name = variables[0].name\n value = variables[0].to_pose()\n type = variables[0].type\n ## \n\n# Event raised when a program or installation variable change\nrobot.primary_interface.global_variables.values_updated(on_value_updated)\n\n\n# Function called when masterboard data is received\ndef on_masterboard_data_received(p, e):\n ai0 = robot.primary_interface.masterboard_data.analog_input0\n di2 = robot.primary_interface.masterboard_data.digital_inputs.digital2\n\n# Several other events are raised by primary interface\nrobot.primary_interface.masterboard_data_received(on_masterboard_data_received)\n\n# Function called when cartesian data is received\ndef on_cartesian_info_received(p, e):\n x = e.X\n tcpOffsetX = e.TCPOffsetX\n\nrobot.primary_interface.cartesian_info_received(on_cartesian_info_received)\n\n# Function called when joint data is received\ndef on_joint_data_received(o,e):\n shoulderAngle = e.Shoulder.Position\n elbowMode = e.Elbow.JointMode\n wrist3Speed = e.Wrist3.ActualSpeed\n\nrobot.primary_interface.joint_data_received(on_joint_data_received)\n```\n\n### Read variables\nRead program and installation variables :\n``` py\nmyVar = robot.primary_interface.global_variables.get_by_name(\"myVar\")\nvariables = robot.primary_interface.global_variables.get_all()\n```\n\n### Dashboard Server\nRemote control the robot : load, play, pause, and stop a robot program, power on and off, release brake, shutdown, ...\n``` py\n# Create a new robot instance\nrobot = UR()\n\n# Setup connection to th robot\nparam = ConnectParameters(\"192.168.0.56\")\nparam.dashboard.enable=True\n\n# Connect to the robot\nrobot.connect(param)\n\n# Display a popup on the pendant\nrobot.dashboard.show_popup(\"I just remote-controlled my robot!\")\n\n# Power on the robot arm and release brakes\nrobot.dashboard.power_on()\nrobot.dashboard.release_brake()\n\n# Load program file to polyscope\nrobot.dashboard.load_program(\"fast_bin_picking.urp\")\n\n# Start the program\nrobot.dashboard.play()\n\n# Get program name and state\nstate = robot.dashboard.get_program_state()\n```\n\n### XML-RPC\nFrom your robot program, remote call a function implemented in your .NET program. For example, this allows you to request a position resulting from image processing.\n\nRobot code (URScript) :\n``` ruby\n# Connect to the SDK and specifie the IP and port of the PC\nrpc:=rpc_factory(\"xmlrpc\",\"http://192.168.0.10:50000\")\n\n# Call method GetPose and wait for the reply. The replied pose will be assigned in variable \"answer\"\nanswer:=rpc.GetPose(100)\n```\n\nPython code :\n``` py\n# XML-RPC server on port 50000\nparameters.xml_rpc.enable = True\nparameters.xml_rpc.port = 50000\n\n# Event callback :\n# robot.xml_rpc.xml_rpc_server_request\n```\n\n### Socket communication\nThe library can start a communication. The robot can connect to your server and exchange custom data. \n\nRobot code (URScript) :\n``` ruby\n# Connect to robot socket server in URScript\nsocket_open(\"192.168.0.10\", 50001)\n\n# Raise event SocketRequest is your app\nsocket_send_string(\"Hello from robot\")\n\n# Raise event SocketGetVar is your app\nvar1 := socket_get_var(\"MY_VAR\")\n```\n\nPython code :\n ``` py\nrobot = UR()\n\n# Setup connection to th robot\nparam = ConnectParameters(\"192.168.0.1\")\n\n# Enable spcket server on port 50001\nparam.socket_communication.enable = True\nparam.socket_communication.port = 50001\n\n# Connect to the robot\nrobot.connect(param)\n\n##\n# Function called when robot connects with URScipt function socket_open()\ndef on_socket_client_connection(o, e : SocketClientConnectionEventArgs):\n e.client.socket_write(\"Hello cobot <3\")\n\nrobot.socket_communication.socket_client_connection(on_socket_client_connection)\n\n# Function called when the robot sends a message with socket_write()\ndef on_socket_request(o,e:SocketRequestEventArgs):\n # Get robot message\n robotMessage = e.Message\n\nrobot.socket_communication.socket_request(on_socket_request)\n\n# Send a message to all connected clients\nrobot.socket_communication.socket_write(\"123456\")\n##\n\n# List of all connected clients\nconnectedClients = robot.socket_communication.connected_clients\n\n# IP address and remote port of a client\nclientEndpoint = connectedClients[0].end_point\n\n# Send a message to a specific connected robot\nconnectedClients[0].socket_write(\"Hello robot [0]\")\n\n # Handle client disconnection\ndef on_socket_client_disconnection(o,e):\n pass\n\nconnectedClients[0].socket_client_disconnection(on_socket_client_disconnection)\n```\n\n### SFTP\nManipulate files and folders of the robot via SFTP (Secure File Transfer Protocol) : download to the robot, import from the robot, rename, delete, move, list files in a folder...\n``` py\nrobot = UR()\n\n# Setup connection to th robot\nparam = ConnectParameters(\"192.168.0.1\")\n\n# Enable SFTP file access\nparam.ssh.enable_sftp = True\n\n# Connect to the robot\nrobot.connect(param)\n\n# Enumerates files and folder\nitems = robot.sftp.list_directory(\"/home/ur/ursim-current/programs/\")\n\n# Download program file prg.urp to your local disk\nrobot.sftp.download_file(\"/home/ur/ursim-current/programs/prg.urp\", \"C:\\\\temp\\\\prg.urp\")\n\n# Send a local file to the robot\nrobot.sftp.upload_file(\"C:\\\\temp\\\\prg.urp\", \"/home/ur/ursim-current/programs/prg.urp\")\n\n# Manipulate files and directories\nrobot.sftp.rename_file(\"/home/ur/prg.urp\", \"/home/ur/prg2.urp\")\nrobot.sftp.delete(\"/home/ur/prg.urp\")\nexists = robot.sftp.exists(\"/home/ur/prg.urp\")\nrobot.sftp.write_all_text(\"/home/ur/file.txt\", \"Hello robot !\")\n```\n\n### SSH\nOpen a SSH (Secure Shell) connection with the robot to execute Linux command lines, as in the terminal.\n``` py\nrobot.ssh.run_command(\"echo Hello > /home/ur/Desktop/NewFile.txt\");\n```\n\n### Convert position types\nConvert Rotation Vector to and from RPY.\n``` py\n# Create X, Y, Z, RX, RY, RZ pose\npose = Pose(0.1, 0.2, -0.1, 0, 0.05, 0.1)\n\n# Convert cartesian pose type to RPY or rotation vector\nrpy = pose.from_rotation_vector_to_rpy()\nvectorPose = pose.from_rpy_to_rotation_vector()\n```\n\n### Edit program and installation files\nOpen and edit program (.urp) and installation (.installation) files :\n``` py\n# Decompile program and installation files and access inner XML\ninstallation = URInstallation.load(\"C:\\\\temp\\\\default.installation\")\nprg = URProgram.load(\"C:\\\\temp\\\\prg.urp\")\ninternalXml = prg.xml\n```\n\n## License\nThis SDK is a commercial library and a license *must* be purshased. Once acquired, any application you develop can be delivered to an unlimited number of customers without royalties and without recurring subscription.\n\nMore information : [https://underautomation.com](https://underautomation.com)\n\n",
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